CN104406589A - Flight method of aircraft passing through radar area - Google Patents
Flight method of aircraft passing through radar area Download PDFInfo
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- CN104406589A CN104406589A CN201410641242.9A CN201410641242A CN104406589A CN 104406589 A CN104406589 A CN 104406589A CN 201410641242 A CN201410641242 A CN 201410641242A CN 104406589 A CN104406589 A CN 104406589A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention relates to the field of aircraft navigation, and in particularly relates to a flight method of an aircraft passing through radar area, and the method comprises the following steps: S1, obtaining radar site distribution data, radar attribute data, radar deployment area terrain data and aircraft attributes; S2, according to the curvature of the earth and the radar deployment area terrain data, calculating radar visual range; S3, calculating connectivity analysis of grid points in a radar invisible areato obtain all radar grid points to gather and construct a safe flight planning path; S4, and navigating the aircraft according to the safe flight planning path in the S3. The flight method fully considers the obstacle of complex terrain environment and the aircraft itself attribute constraints, the most prominent is the consideration of the radar area constraint, complex battlefield environment is fully simulated and analyzed to infinitely close to the real battlefield geographical environment, and optimized path navigation for the aircraft to safely pass through the deployment area is provided.
Description
Technical field
The present invention relates to aircraft navigation field, particularly relate to the flying method that a kind of aircraft passes through radar district.
Background technology
Along with the development of science and technology, path planning, as the gordian technique in some fields, has a lot of scholar be studied path planning and achieve many achievements both at home and abroad.Being of wide application of path planning, is mainly used in turn-by-turn navigation, virtual reality, intelligent computation and robot field at present.
Path planning is one of main research of motion planning.Motion planning is made up of path planning and trajectory planning, and sequence of points or the curve in connection source position and final position are referred to as path, and the strategy forming path is referred to as path planning.Path planning is studied more in robotics and virtual reality, and main research can be summarized as: the path planning 1) under static structure environment; 2) path planning under dynamic known environment; 3) path planning under dynamic uncertain environments.Different according to the degree that planning body is known environmental information, path planning can be divided into two types: the global path planning that environmental information is completely known, also known as static or off-line path planning; Environmental information is completely unknown or part is unknown, is detected online, to obtain the local paths planning of the information such as position, shape and size of barrier, also known as dynamic or online path planning by sensor to the working environment of robot.Local paths planning and global path planning also have essential distinction.The method being much applicable to global path planning may be used to local paths planning through improvement; And the method being applicable to local paths planning can be applicable to global path planning.
The difference of the object of simultaneously serving for path planning, path planning can be divided into towards ground entity as tank, automobile, robot etc. again, and towards the path planning of aerial entity, as various different aircraft.
Traditional flight path planning, often only considers epigeosphere terrain environment, weather environment, is to design as high mountain etc. for automatic dodging barrier, and rare consider complicated terrain environment simultaneously under, the constraint of radar hazardous location controls.
Summary of the invention
(1) technical matters that will solve
The object of this invention is to provide a kind of constraint with reference to complicated terrain environment, radar hazardous location to control, the aircraft rationally carrying out flight path pre-planning passes through the flying method in radar district.
(2) technical scheme
The present invention is achieved by the following technical solutions:
Aircraft passes through the flying method in radar district, comprises the following steps:
S1 obtains radar website distributed data, radar attribute data, radar disposition regional feature data and aircraft attribute;
S2, according to earth curvature, radar disposition regional feature data, calculates the visual range of radar;
S3 calculates the connectivity analysis of grid point in the not visible region of radar, draws allly to reach grid point set and be configured to safe flight path planning;
S4 navigates to aircraft according to the safe flight path planning in step S3.
Wherein, in described step S1, the Treatment Analysis of radar disposition regional feature data adopts dem data analysis in digital Terrain Analysis, improves the sharpness of topographic data processing.
Further, in described step S1, aircraft attribute comprises aircraft and enters initial position P, the aircraft inherent parameters in radar disposition region and maximum maximum height limit of flying, and the calculating for radar disposition region provides necessary data.
Wherein, described step S2 specifically comprises the following steps:
Based on the resolution of S21 according to radar disposition regional feature data, point centered by radar disposition point, that considers radar can apparent radius, calculates the visual range figure without terrain environment;
S22 is according to earth curvature, radar disposition regional feature data, and viewdata grid point in cycle calculations radar center point to smooth radar visual range, draws the set of viewdata grid point.The viewdata grid point in smooth radar visual range accurately effectively can be drawn by above step.
Further, in described step S21, radar disposition regional feature data, based on 10 meters of resolution, arrange the raster symbol-base figure of radar visible range, provide raster symbol-base figure clearly.
Wherein, described step S22 comprises the following steps:
I. following formula 1 is adopted to calculate the maximum horizon grange L of radar center point and impact point;
Formula 1:
Then with radar center point for viewpoint, the earth centered inertial coordinate calculating viewpoint and impact point calculates air line distance d between the two, if d is greater than L, then judging can not intervisibility; Otherwise, carry out the calculating of following steps;
II. calculate sphere between radar center point and impact point line through the viewpoint collection S{P of the latitude and longitude coordinates of raster data point
1, P
2, P
3... Pn}, wherein P represent sight line each grid point of process;
The true height value H of the raster data point III. in cycle calculations viewpoint collection S
ti; Elevation H
tifor the original elevation H of residing longitude and latitude point
orithe lower elevation H raised is affected with earth curvature
ssum, set up radar center point and impact point through the visual elevation threshold value H of each grid point
iwith current grid point and radar center point distance d
ibetween variable relation;
Formula 2:
H
i＝k(d
i-D)+H
t
Wherein, d
ifor current grid point and radar center point distance; D is the distance between radar center point and impact point, H
tfor the true elevation of impact point, k is straight slope;
Formula 3:
K=(H
t-H
c)/(D-0), wherein, H
cfor the true elevation of radar center point;
If concentrated in viewpoint, there is the true height value H calculated
tibe greater than the elevation threshold value H of current calculation level
i, then judge radar center point and impact point 2 not visible; If circulation terminates, true elevation H
tiall be less than elevation threshold value H
i, then 2 visual.
This step specifically according to earth curvature, radar disposition regional feature data, accurately draws the set of viewdata grid point.
Further again, described step S3 specifically comprises the following steps:
S31 is according to the attribute of aircraft, and from aircraft enters radar disposition regional location P, grid point calculates flight path one by one, and whether calculating current grid point meets the following conditions, if met the following conditions, then current grid point is as one of path point:
A. the not visible range areas of radar is belonged to;
B. aircraft flight height value is less than adjacent one or more radar points recently by the elevation stopped;
C. whether visually calculate with radar website in current residing radar radius;
D. aircraft altitude is less than the maximum elevation restriction of aircraft;
S32 is circulated to whole radar disposition region, finds out all grid points meeting step S31 condition and carries out connectivity judgement, all adjacent and the grid point set with connectivity is configured to safety can reach flight path.
Wherein, the connectivity determination methods of described step S32 is: judge current grid point and the visual grid region whether all belonging to current grid point from all directions to adjacent cells unit; If belong to the visual grid region of current grid point, being then judged as can UNICOM, otherwise being judged as can not UNICOM, and the method for facing territory by eight judges the visual grid region of current grid point, reaches more accurate object.
Wherein, in described step S4, aircraft from many safe flight path plannings of planning, according to bee-line or shortest time, can determine that one for safe flight path planning, is saved the safe flight path of time and flight cost.
(3) beneficial effect
Compare with product with prior art, the present invention has the following advantages:
The present invention has taken into full account complicated terrain environment obstacle, and the constraint of aircraft self attributes, the most outstanding is the constraint considering radar district, sufficient Simulation and analysis has been carried out to the battlefield surroundings of complexity, the true battlefield geographic environment of infinite approach, for aircraft security to provide the path navigation of optimization by radar disposition region.To the Navigation of Pilotless Aircraft in Virtual Battlefield, flight path pre-planning etc., all there is certain decision guidance meaning.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the radar viewing area without elevation stop of the present invention
Fig. 2 is the schematic diagram adding the viewing area that elevation stops of the present invention;
Fig. 3 is the schematic diagram that radar points visual range of the present invention is shown;
Fig. 4 is that topography curvature of the present invention causes 2 not visible schematic diagram;
Fig. 5 is the schematic diagram of visual point set between central point of the present invention and impact point;
Fig. 6 is that topography curvature of the present invention affects schematic diagram to ground elevation;
Fig. 7 is flight path program results figure of the present invention;
Fig. 8 is the flying method implementation step schematic diagram that aircraft provided by the invention passes through radar district.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 8, the present embodiment provides a kind of aircraft to pass through the flying method in radar district, specifically comprises the following steps:
1. obtain radar website distributed data, radar attribute data, radar disposition regional feature data and aircraft attribute;
Wherein, main data prediction comprises following components:
(1) radar website distributed data, is mainly used in calculating radar visible range grid map, and the spatial database of radar website distribution longitude and latitude data and radar attribute data (inherent parameters such as visible range radius as radar) associates.
(2) radar disposition regional feature data, for calculating radar visible range and flight path, radar disposition regional feature data experiment class adopts GDEM 30 meters of resolution datas, for the accuracy requirement that visible range calculates, utilize digital Terrain Analysis to carry out terrain data interpolation, calculate graphic data accurately.Here by interpolation generate radar disposition region 10 meters of precision dem data.
(3) radar disposition region vector data and image data, the result for flight path planning is shown.
(4) aircraft enters the initial position P in radar disposition region, and aircraft inherent parameters, maximum maximum height limit of flying.
2., according to earth curvature, radar disposition regional feature data, calculate the visual range of radar.
1) based on the resolution according to radar disposition regional feature data, point centered by radar disposition point, that considers radar can apparent radius, calculates the visual range figure without terrain environment;
Based on the resolution (adopting 10 meters of resolution datas here) of current position graphic data, the raster symbol-base figure of radar visible range is set.With radar disposition point position central point, that considers the attribute of radar and radar can apparent radius, calculates without terrain environment, i.e. the visual range figure of flat site radar, as shown in Figure 1.
2) according to earth curvature, radar disposition regional feature data, viewdata grid point in cycle calculations radar center point to smooth radar visual range, draws the set of viewdata grid point.
Under considering that earth curvature calculates the influence of topography, the visuality of each data grid point in cycle calculations radar center point to smooth radar visual range.As shown in Figures 2 and 3, the set of viewdata grid point is exactly the viewing area scope adding stop.
Particularly, the visuality (here with radar center point position viewpoint, with in radar visual range for judging whether visible dots position impact point) of each data grid point in following methods cycle calculations radar center point to smooth radar visual range is adopted:
I. following formula 1 is adopted to calculate the maximum horizon grange L of radar center point and impact point;
Formula 1:
Then with radar center point for viewpoint, the earth centered inertial coordinate calculating viewpoint and impact point calculates air line distance d between the two, if d is greater than L, then judges that viewpoint and impact point can not intervisibilities; Otherwise, carry out the calculating of following steps.
Consider that the cardinal principle of 2 flux-vector splitting of topography curvature is: because earth surface is curved surface, even if there is no barrier between viewpoint and impact point, can not infinity intervisibility, there is a maximum horizon grange between the two, as shown in Figure 4, viewpoint is for ground A point in the point diagram of current eye place, and impact point judges the point with current view point whether intervisibility away from viewpoint, is B point in ground in figure.
II. calculate sphere between radar center point and impact point line through the viewpoint collection S{P of the latitude and longitude coordinates of raster data point
1, P
2, P
3... Pn}, wherein P represent sight line each grid point of process; Be illustrated in fig. 5 shown below, fill area viewpoint data acquisition, point centered by P point, T point is impact point.
The true height value H of the raster data point III. in cycle calculations viewpoint collection S
ti; Elevation is the original elevation H of residing longitude and latitude point
orithe lower elevation H raised is affected with earth curvature
ssum, is illustrated in fig. 6 shown below, and A, B 2 are 2 points of identical level point, disregard earth curvature then 2 highly identical, consider after earth curvature, the value of raising of the elevation of B point is Hs.Set up radar center point and impact point through the visual elevation threshold value H of each grid point
iwith current grid point and radar center point distance d
ibetween variable relation (straight-line equation), following formula 2 and formula 3.In formula 2, D is the distance between radar center point and impact point, H
tfor the true elevation of impact point, H
cfor the true elevation of radar center point.Wherein straight slope is calculated as follows formula 3, be by by radar center point height with bring formula 2 apart from oneself distance 0 and impact point elevation into the distance D apart from radar center point and ask for.
Formula 2:
H
i＝k(d
i-D)+H
t
Formula 3:
k＝(H
t-H
c)/(D-0)
If concentrated in viewpoint, there is the true height value H calculated
tibe greater than the elevation threshold value H of current calculation level
i, then judge radar center point and impact point 2 not visible, if circulation terminates all true elevation H
tiall be less than elevation threshold value H
i, then 2 visual.
3. calculate the connectivity analysis of grid point in the not visible region of radar, draw and allly reach grid point set and be configured to safe flight path planning, step is as follows particularly:
1) according to the attribute of aircraft, from aircraft enters radar disposition regional location P, grid point calculates flight path one by one, and whether calculating current grid point meets the following conditions, if met the following conditions, then current grid point is as one of path point:
A. the not visible range areas of radar is belonged to;
B. aircraft flight height value is less than adjacent one or more radar points recently by the elevation stopped;
C. whether visually calculate with radar website in current residing radar radius;
D. aircraft altitude is less than the maximum elevation restriction of aircraft.
2) be circulated to whole radar volume, find out all grid points satisfied condition, judge its connectivity.Here adopt eight neighborhood method for tracing, using radar inlet point P as first grid point C, judge whether it belongs to the not visible region of radar (i.e. safety zone) to grid point, if so, then with current neighborhood grid C from all directions
ias new grid central point C, judge its eight neighborhood direction.Circulation terminates to radar disposition zone boundary successively.All adjacent and the grid set with connectivity is configured to safety can reach flight path.Following Fig. 7 black background region is the safe flight path planning of final seletion calculation.
4. according to the safe flight path planning in step 3, aircraft is navigated.
Above embodiment is only one embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.Its concrete structure and size can adjust according to actual needs accordingly.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (9)
1. aircraft passes through the flying method in radar district, it is characterized in that, comprises the following steps:
S1 obtains radar website distributed data, radar attribute data, radar disposition regional feature data and aircraft attribute;
S2, according to earth curvature, radar disposition regional feature data, calculates the visual range of radar;
S3 calculates the connectivity analysis of grid point in the not visible region of radar, draws allly to reach grid point set and be configured to safe flight path planning;
S4 navigates to aircraft according to the safe flight path planning in step S3.
2. aircraft according to claim 1 passes through the flying method in radar district, it is characterized in that, in described step S1, the Treatment Analysis of radar disposition regional feature data adopts dem data analysis in digital Terrain Analysis.
3. aircraft according to claim 1 passes through the flying method in radar district, it is characterized in that, in described step S1, aircraft attribute comprises aircraft and enters initial position P, the aircraft inherent parameters in radar disposition region and maximum maximum height limit of flying.
4. aircraft according to claim 3 passes through the flying method in radar district, it is characterized in that, described step S2 specifically comprises the following steps:
Based on the resolution of S21 according to radar disposition regional feature data, point centered by radar disposition point, that considers radar can apparent radius, calculates the visual range figure without terrain environment;
S22 is according to earth curvature, radar disposition regional feature data, and viewdata grid point in cycle calculations radar center point to smooth radar visual range, draws the set of viewdata grid point.
5. aircraft according to claim 4 passes through the flying method in radar district, it is characterized in that, in described step S21, radar disposition regional feature data, based on 10 meters of resolution, arrange the raster symbol-base figure of radar visible range.
6. aircraft according to claim 4 passes through the flying method in radar district, it is characterized in that, described step S22 comprises the following steps:
I. following formula 1 is adopted to calculate the maximum horizon grange L of radar center point and impact point;
Formula 1:
Then with radar center point for viewpoint, the earth centered inertial coordinate calculating viewpoint and impact point calculates air line distance d between the two, if d is greater than L, then judging can not intervisibility; Otherwise, carry out the calculating of following steps;
II. calculate sphere between radar center point and impact point line through the viewpoint collection S{P of the latitude and longitude coordinates of raster data point
1, P
2, P
3... Pn}, wherein P represent sight line each grid point of process;
The true height value H of the raster data point III. in cycle calculations viewpoint collection S
ti; Elevation H
tifor the original elevation H of residing longitude and latitude point
orithe lower elevation H raised is affected with earth curvature
ssum, set up radar center point and impact point through the visual elevation threshold value H of each grid point
iwith current grid point and radar center point distance d
ibetween variable relation;
Formula 2:
H
i＝k(d
i-D)+H
t
Wherein, d
ifor current grid point and radar center point distance; D is the distance between radar center point and impact point, H
tfor the true elevation of impact point, k is straight slope;
Formula 3:
K=(H
t-H
c)/(D-0), wherein, H
cfor the true elevation of radar center point;
If concentrated in viewpoint, there is the true height value H calculated
tibe greater than the elevation threshold value H of current calculation level
i, then judge radar center point and impact point 2 not visible; If circulation terminates, true elevation H
tiall be less than elevation threshold value H
i, then 2 visual.
7. aircraft according to claim 6 passes through the flying method in radar district, it is characterized in that, described step S3 specifically comprises the following steps:
S31 is according to the attribute of aircraft, and from aircraft enters radar disposition regional location P, grid point calculates flight path one by one, and whether calculating current grid point meets the following conditions, if met the following conditions, then current grid point is as one of path point:
A. the not visible range areas of radar is belonged to;
B. aircraft flight height value is less than adjacent one or more radar points recently by the elevation stopped;
C. whether visually calculate with radar website in current residing radar radius;
D. aircraft altitude is less than the maximum elevation restriction of aircraft;
S32 is circulated to whole radar disposition region, finds out all grid points meeting step S31 condition and carries out connectivity judgement, all adjacent and the grid point set with connectivity is configured to safety can reach flight path.
8. aircraft according to claim 7 passes through the flying method in radar district, it is characterized in that, the connectivity determination methods of described step S32 is: judge current grid point and the visual grid region whether all belonging to current grid point from all directions to adjacent cells unit; If belong to the visual grid region of current grid point, being then judged as can UNICOM, otherwise being judged as can not UNICOM.
9. the aircraft according to any one of claim 1 ~ 8 passes through the flying method in radar district, it is characterized in that, in described step S4, aircraft can from many safe flight path plannings of planning, according to bee-line or shortest time, determine that one for safe flight path planning.
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| CN109357685A (en) * | 2018-11-05 | 2019-02-19 | 飞牛智能科技（南京）有限公司 | Airway net generation method, device and storage medium |
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| CN109855629A (en) * | 2019-03-15 | 2019-06-07 | 朱彬 | A kind of mission planning method, apparatus and electronic equipment |
| CN110488871B (en) * | 2019-09-03 | 2022-02-08 | 滁州学院 | Unmanned aerial vehicle path dynamic planning method based on two-dimensional and three-dimensional integration |
| CN110488871A (en) * | 2019-09-03 | 2019-11-22 | 滁州学院 | A kind of unmanned plane path dynamic programming method based on two three-dimensional integratedization |
| CN111783231A (en) * | 2020-07-20 | 2020-10-16 | 中国人民解放军国防科技大学 | Target task intention identification method and device based on unit distribution thermal grid |
| CN111783231B (en) * | 2020-07-20 | 2021-04-27 | 中国人民解放军国防科技大学 | Target task intention identification method and device based on unit distribution thermal grid |
| CN113253760A (en) * | 2021-06-08 | 2021-08-13 | 北京远度互联科技有限公司 | Path planning method and device, movable carrier and storage medium |
| CN113253761A (en) * | 2021-06-08 | 2021-08-13 | 北京远度互联科技有限公司 | Real-time path planning method and device, movable carrier and storage medium |
| CN113253760B (en) * | 2021-06-08 | 2021-11-09 | 北京远度互联科技有限公司 | Path planning method and device, movable carrier and storage medium |
| CN113253761B (en) * | 2021-06-08 | 2021-11-09 | 北京远度互联科技有限公司 | Real-time path planning method and device, movable carrier and storage medium |
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| CN104406589B (en) | 2017-05-24 |
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